Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Parameters Index.Subindex Name Data type
113032 0x2193.41 Counter initiated trigger events negative edge
CiA402 UINT32
113033 0x2193.43 Touch probe status CiA402 UINT16
113034 0x2193.45 Modulo hysteresis SINT64
113035 0x2193.47 Current modulo hysteresis SINT64
113036 0x2193.49 Delay time FLOAT32
113037 0x2193.4B Current delay time FLOAT32
Tab. 401 Objects
7.3 Open-loop operation
Function
In open-loop operation the motor is actuated with constant currents. This type of actuation is particu-
larly suited for reduction of vibration at low rotational speeds. In closed-loop operation the servo drive
controls the motor current (closed loop) and tries to compensate for deviations as closely as possible
depending on the closed-loop parameterisation.
Open-loop operation is possible with and without an encoder. If an encoder is used, the device can
switch automatically between closed-loop operation and open-loop operation. If closed-loop opera-
tion is requested without the presence of a valid commutation angle in the current data record, an
error message is output. The following modes of open-loop operation are supported:
Modes Description
Open-loop opera-
tion without
encoder The motor is actuated with constant currents only.
If functions require an encoder or closed-loop operation, they are rejected with
an error message. Deviations cannot be detected.
–
Motion monitoring functions are inactive.
– Force mode is not supported.
– Homing methods that require an encoder are not supported (homing meth-
ods with zero pulse detection).
– Homing methods that require force mode are not supported (homing meth-
ods with stop detection).
Open-loop opera-
tion with encoder The motor is operated in open-loop or closed-loop operation with constant cur-
rents depending on the function call. Deviations can be detected.
–
Motion monitoring functions are supported as configured.
– If functions require closed-loop operation, they are automatically run in
closed-loop operation. If force mode is requested, it is automatically run in
closed-loop operation.
– All homing methods can be triggered. Homing methods with stop detection
are automatically run in closed-loop operation.
Technology functions
423 Festo — CMMT-ST-SW — 2019-02